Method and apparatus for positioning a workstation for controlling a robotic system

ABSTRACT

A method for positioning an input device of a workstation for use by a seated user in controlling a robotic surgery system is disclosed. The input device is operable to generate input signals representing a position of a hand controller moveable within an input device workspace. The method involves determining a vertical position of the hand controller within the input device workspace for an input signal received from the input device while a seated user&#39;s hand is grasping the hand controller in an initialization position defined with respect to the user&#39;s body. The method also involves determining a user ergonomic height of the input device based on the vertical position of the hand controller at the initialization position, and causing a platform of the workstation on which the input device is mounted to move vertically with respect to a base of the workstation to position the input device at the ergonomic height.

BACKGROUND 1. Field

This disclosure relates generally to a workstation for controlling arobotic system and more particularly to positioning an input device ofthe workstation with respect to a user.

2. Description of Related Art

In robotic systems, such as surgical robotic systems, a workstation maybe provided to control a remotely located instrument through user inputprovided to an input device on the. The user may be required to operatethe workstation for an extended period of time, and the comfort of theuser may thus be of concern since user fatigue may result.

SUMMARY

In accordance with one disclosed aspect there is provided a method forpositioning an input device of a workstation for use by a seated user incontrolling a robotic surgery system, the input device being operable togenerate input signals representing a position of a hand controllermoveable within an input device workspace. The method involvesdetermining a vertical position of the hand controller within the inputdevice workspace for an input signal received from the input devicewhile a seated user's hand is grasping the hand controller in aninitialization position defined with respect to the user's body. Themethod also involves determining a user ergonomic height of the inputdevice based on the vertical position of the hand controller at theinitialization position, and causing a platform of the workstation onwhich the input device is mounted to move vertically with respect to abase of the workstation to position the input device at the ergonomicheight.

Determining the user ergonomic height may involve determining a verticaloffset to the current height of the input device that will produce apre-defined vertical position of the hand controller within the inputdevice workspace when the input device is positioned at the ergonomicheight.

Causing the platform to move vertically may involve causing the platformto move vertically over a vertical distance corresponding to thevertical offset.

Causing the platform to move vertically may involve causing the platformto move vertically in a direction associated with the vertical offsetwhile successively receiving input signals from the input devicerepresenting the current position of the hand controller within theinput device workspace, and causing the platform to discontinue verticalmovement when the current position of the hand controller in the inputdevice workspace may be proximate the pre-defined vertical position ofhand controller.

The initialization position may involve the user's hand grasping thehand controller in one of a position with the user's wrist resting onthe user's knee, a position with the user's wrist resting on a portionof the user's thigh proximate the knee, a position with the user'sforearms held in a generally horizontal orientation, and a position withthe user's arms held outstretched in a generally horizontal orientation.

The method may involve displaying a message on a display of theworkstation, the message prompting the user to grasp and position thehand controller input device in the initialization position.

Determining the user ergonomic height may involve determining the userergonomic height of the input device in response to actuation of a useractuable button by the user indicating that the hand controller is beingheld in the initialization position.

The method may involve receiving user input of a change to the userergonomic height of the input device based on the user's preference andcausing the platform to move vertically with respect to a base of theworkstation to position the input device at the user directed ergonomicheight.

The method may involve receiving a user identification identifying theuser and saving information associated with the user directed ergonomicheight in a user database for the identified user.

The platform of the workstation may be operably configured to movevertically within a vertical motion range and the method may furtherinvolve, when the workstation is initialized at startup, causing theplatform to move to one of a vertical position such that the platform ispositioned at a center position within the vertical motion range, apre-defined ergonomic height determined to be suitable for an averageuser, and a user directed vertical position based on the user'spreference of an identified user.

The input device may include a right input device operable to receiveinput from the user's right hand and may further include a left inputdevice operable to receive input from the user's left hand, anddetermining the user ergonomic height may involve determining the userergonomic height based on the vertical position of one of the left andright hand controllers at the initialization position.

The input device may include a right input device operable to receiveinput from the user's right hand and may further include a left inputdevice operable to receive input from the user's left hand, anddetermining the user ergonomic height may involve determining the userergonomic height based on a combination of the vertical positions of theleft and right hand controllers when positioned at respectiveinitialization positions.

In accordance with another disclosed aspect there is provided aworkstation apparatus including an input device operable to generateinput signals representing a position of a hand controller moveablewithin an input device workspace input device for controlling a roboticsurgery system. The apparatus includes a base for supporting theworkstation, and a platform mounted on the base for vertical movementwith respect to the base, the input device being mounted on theplatform. The apparatus also includes an actuator configured to causevertical movement of the platform in response to receiving a controlsignal. The apparatus further includes a processor circuit operablyconfigured to determine a vertical position of the hand controllerwithin the input device workspace for an input signal received from theinput device while a seated user's hand is grasping the hand controllerin an initialization position defined with respect to the user's body,determine a user ergonomic height of the input device based on thevertical position of the hand controller at the initialization position,and produce the control signal for causing the actuator to move theplatform to position the input device at the ergonomic height.

The processor circuit may be operably configured to determine the userergonomic height by determining a vertical offset to the current heightof the input device that will produce a pre-defined vertical position ofthe hand controller within the input device workspace when the inputdevice is positioned at the ergonomic height.

The processor circuit may be operably configured to cause the actuatorto move the platform over a vertical distance corresponding to thevertical offset.

The processor circuit may be operably configured to cause the actuatorto move the platform in a direction associated with the vertical offsetwhile successively receiving input signals from the input devicerepresenting the current position of the hand controller within theinput device workspace, and cause the actuator to discontinue verticalmovement of the platform when the current position of the handcontroller in the input device workspace is proximate the pre-definedvertical position of hand controller.

The initialization position may include the user's hand grasping thehand controller in one of a position with the user's wrist resting onthe user's knee, a position with the user's wrist resting on a portionof the user's thigh proximate the knee, a position with the user'sforearms held in a generally horizontal orientation, and a position withthe user's arms held outstretched in a generally horizontal orientation.

The workstation may include a display and the processor circuit may beoperably configured to display a message on the display prompting theuser to grasp and position the hand controller input device in theinitialization position.

The processor circuit may be operably configured to determine the userergonomic height in response to actuation of a user actuable button bythe user indicating that the hand controller is being held in theinitialization position.

The processor circuit may be operably configured to receive user inputof a change to the user ergonomic height of the input device based onthe user's preference and to causing the platform to move verticallywith respect to a base of the workstation to position the input deviceat the user directed ergonomic height.

The apparatus may include a user database stored in a memory incommunication with the processor circuit and the processor circuit maybe operably configured to receive a user identification identifying theuser and save information associated with the user directed ergonomicheight in a user database for the identified user.

The platform of the workstation may be operably configured to movevertically within a vertical motion range and the processor circuit isoperably configured to, when the workstation is initialized at startup,cause the platform to move to one of a vertical position such that theplatform is positioned at a center position within the vertical motionrange, a pre-defined ergonomic height determined to be suitable for anaverage user, and a user directed vertical position based on the user'spreference of an identified user.

The input device may include a right input device operable to receiveinput from the user's right hand and may further include a left inputdevice operable to receive input from the user's left hand, and theprocessor circuit may be operably configured to determine the userergonomic height by determining the user ergonomic height based on thevertical position of one of the left and right hand controllers at theinitialization position.

The input device may include a right input device operable to receiveinput from the user's right hand and may further include a left inputdevice operable to receive input from the user's left hand, and theprocessor circuit may be operably configured to determine the userergonomic height by determining the user ergonomic height based on acombination of the vertical positions of the left and right handcontrollers when positioned at respective initialization positions.

The workstation may include at least one forearm support for receivingand supporting the user's forearm during operation of the input deviceand the forearm support may be coupled to the platform.

The workstation may include at least one display for providing visualfeedback to the user and the display may be coupled to the platform.

Other aspects and features will become apparent to those ordinarilyskilled in the art upon review of the following description of specificdisclosed embodiments in conjunction with the accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate disclosed embodiments,

FIG. 1 is a perspective view of a workstation and instrument cart of arobotic surgery system in accordance with one disclosed embodiment;

FIG. 2 is a perspective view of an input device of the workstation shownin FIG. 1;

FIG. 3 is a block diagram of a processor circuit of the workstationshown in FIG. 1;

FIG. 4 is a flowchart depicting blocks of code for directing theprocessor circuit shown in FIG. 3 to perform functions related topositioning the input device shown in FIG. 2;

FIG. 5 is a side view of the workstation and a user seated in aninitialization position;

FIG. 6 is a further side view of the workstation console and a userseated in an initialization position with a platform moving toward anergonomic height;

FIG. 7 is a side view of the workstation console and a user seated in anoperating position with the platform and input device positioned at theergonomic height;

FIG. 8 is a flowchart depicting blocks of code for directing theprocessor circuit shown in FIG. 3 to perform functions related toreceiving a change to the ergonomic height;

FIG. 9 is a is a flowchart depicting blocks of code for directing theprocessor circuit shown in FIG. 3 to perform functions related toraising or lowering the platform to position the platform at theergonomic height.

DETAILED DESCRIPTION

Referring to FIG. 1, a robotic surgery system is shown generally at 100.The system 100 includes a workstation 102 and an instrument cart 104.The instrument cart 104 includes at least one instrument 106 mounted ona moveable instrument mount 108 that houses an instrument drive (notshown) for manipulating the instrument.

The workstation 102 includes an input device 110 for use by a user(generally a surgeon) for controlling the instrument 106 via theinstrument drive to perform surgical operations on a patient. The inputdevice 110 may be implemented using a haptic interface device availablefrom Force Dimension, of Switzerland, for example. The input device 110includes a right input device 116 and a left input device 118 forcontrolling respective right and left instruments 106 (not shown). Theright input device 116 includes a hand controller 112 and the left inputdevice 118 includes a hand controller 114, the hand controllers beingmechanically coupled to the respective input devices. The input devices116 and 118 thus generate input signals representing positions of thehand controllers 112 and 114 within the input device workspace. Theworkstation 102 also includes a workstation processor circuit 120, whichis in communication with the input devices 116 and 118 for receiving theinput signals.

The instrument cart 104 includes an instrument processor circuit 130 forcontrolling the instrument 106. In this embodiment the instrumentprocessor circuit 130 is in communication with the workstation processorcircuit 120 via an interface cable 132 for transmitting signals betweenthe workstation processor circuit 120 and the instrument processorcircuit 130. In other embodiments communication between the workstationprocessor circuit 120 and the processor circuit 130 may be wireless orvia a computer network, and the workstation 102 and may even be locatedremotely from the instrument cart 104. Input signals are generated bythe right and left input devices 116 and 118 in response to movement ofthe hand controllers 112 and 114 by the user within an input deviceworkspace and the instrument 106 is spatially positioned in a surgicalworkspace in response to the input signals.

The workstation 102 also includes a display 122 in communication withthe workstation processor circuit 120 for displaying real time imagesand/or other graphical depictions of the surgical workspace produced bya camera (not shown) associated with the instrument 106. The display 122may further be operable to provide other visual feedback and/orinstructions to the user. A second auxiliary display 123 may be utilizedto display auxiliary surgical information to the user (surgeon),displaying, for example, patient medical charts and pre-operationimages. The workstation 102 further includes a footswitch 134, which isactuable by the user to provide input signals to the workstationprocessor circuit 120. In one embodiment the signal provided to theworkstation processor circuit 120 inhibits movement of the instrument106 while the footswitch 134 is depressed.

In the embodiment shown, the workstation 102 includes a base 140 havinga pedestal 148 extending upwardly from the base. The workstation 102also includes a platform 142 having a column 150. The pedestal 148supports the column 150 for vertical movement of the column and platform142 with respect to the base 140. The input device 110 is mounted on theplatform 142, and in this embodiment the display 122 and a pair ofsupports 144 and 146 for supporting the user's arms are also mounted onthe platform. In this embodiment the supports 144 and 146 includerespective elbow supports 145 and 147 that are operable to swivel in tosupport the user's elbows. The input device 110, display 122, auxiliarydisplay 123, and supports 144 and 146 are thus all vertically moveablewith respect to the base.

The column 150 houses an actuator 152 operably configured to causevertical movement of the platform 142. In this embodiment, the actuator152 includes a motor 154 coupled to a leadscrew 156. The leadscrew 156is received within a leadscrew nut 168 and rotation of the leadscrewraises or lowers the platform 142 with respect to the base 140 when themotor 154 is actuated. The actuator 152 facilitates movement of theplatform 142 over a vertical motion corresponding to a length of theleadscrew 156.

The right input device 116 is shown in more detail in FIG. 2. Referringto FIG. 2, the input device 116 includes three moveable arms 180, 182,and 184. The hand controller 112 is coupled via a gimbal mount 186 tothe moveable arms 180, 182, and 184, which confine movements of the handcontroller to within a input device workspace 188. In this embodimentthe input device workspace 188 is generally hemispherical. The inputdevice 116 includes sensors (not shown) that sense the position of eachof the arms 180, 182, and 184 and rotation of the hand controller 112and produces signals representing a current position of the handcontroller in the input device workspace 188 and a rotationalorientation of the hand controller relative to an input device Cartesianreference frame x_(r), y_(r), z_(r). In this embodiment, the positionand orientation signals are transmitted as input signals via a USBconnection 192 to the workstation processor circuit 120. In theembodiment shown the hand controller 112 includes a user actuable button190, which produces additional input signals for transmission to theworkstation processor circuit 120.

A block diagram of the processor circuit 120 of the system 100 is shownin FIG. 3. Referring to FIG. 3 the workstation processor circuit 120includes a microprocessor 200. The workstation processor circuit 120also includes a workstation memory 202, a USB interface 204, aninput/output 206 and a motion control interface 208, all of which are incommunication with the microprocessor 200. The workstation memory 202includes a plurality of storage locations 220 for storing data valuesgenerated during operation of the system 100. The input/output 206includes an input for receiving input signals from the footswitch 134and also includes an output for producing an actuation signal forcontrolling the motor 154 to raise or lower the platform 142 and anoutput for producing display signals for driving the display 122 andauxiliary display 123.

In this embodiment the input device 110 communicates using a USBprotocol and the USB interface 204 receives input signals produced bythe input device in response to movements of the hand controllers 112and 114. The microprocessor 200 processes the input signals and causesthe motion control interface 208 to transmit control signals, which areconveyed to the instrument processor circuit 130 via the interface cable132. The instrument processor circuit 130 processes the control signalsand produces drive signals for moving the instrument 106. Theworkstation processor circuit 120 thus acts as a master subsystem forreceiving user input, while the instrument processor circuit 130 andinstrument 106 act as a slave subsystem in responding to the user input.

Referring to FIG. 4, a flowchart depicting blocks of code for directingthe processor circuit 120 to perform functions related to positioningthe input device 110 for use by a seated user is shown generally at 250.The actual code to implement each block may be written in any suitableprogram language, such as C, C++, C#, Java, and/or assembly code, forexample.

The process 250 begins at block 252 when the system goes through astart-up procedure. In this embodiment, as part of the start-upprocedure, the microprocessor 200 causes the platform 142 to move to astart-up position. As an example, the start-up position may be avertical position that positions the platform at a center positionwithin the vertical motion range provided by the leadscrew 156, apre-defined ergonomic height determined to be suitable for an averageuser, or a user directed vertical position based on a last user'spreference.

Block 254 then directs the microprocessor 200 to cause an initializationmessage to be displayed on the display 122. The initialization messagemay include a direction to the user to assume an initializationposition. Referring to FIG. 5, a user 300 is shown seated in aninitialization position 302 in front of the workstation 102 with theirfeet placed on the ground. The user 300 is seated on a chair 304 and isholding the hand controller 112 with the wrist resting on a portion ofthe user's thigh proximate the knee, which provides a reasonablyrepeatable initialization position with respect to the user's body. InFIG. 5, the support 144 of the platform 142 is omitted for purposes ofillustration. The user 300 will have already adjusted the height of thechair 304 prior to having moved up to the workstation 102. In otherembodiments, the initialization position 302 may be otherwise defined,such as the user's wrist resting on the user's knee, the user's forearmsbeing held in a generally horizontal orientation, or the user's armsbeing held outstretched in a generally horizontal orientation. Theheight of the chair 304 may thus be selected for the user's comfortrather than in accordance with the start-up height h₅ of the inputdevice 116 of the workstation 102. In some embodiments, theinitialization message displayed on the display 122 or auxiliary display123 may include a graphic depicting the initialization position 302shown in FIG. 5 to aid the user.

Block 256 then directs the microprocessor 200 to receive input signalsfrom either or both of input devices 116 and 118. In the descriptionfollowing, it is assumed that the process is performed for the righthand controller 112, but in other embodiments the left hand controller114 may be used or a combination of both left and right hand controllersmay be used to define the initialization position. In general the inputdevice 116 sequentially generates and transmits input signalsrepresenting the current position of the hand controller 112 within theinput device workspace 188. The input signals may be in the form of aposition vector and a rotation matrix representing the current positionand rotation of the hand controller 112. The USB interface 204 of theworkstation processor circuit 120 receives the input signals and themicroprocessor 200 writes the values of the current position androtation into storage locations 222 and 224 of the plurality of storagelocations 220 shown in FIG. 3. The USB interface 204 of the workstationprocessor circuit 120 may also receive an input signal representing thestate of the user actuable button 190.

The process 250 then continues at block 258, which directs themicroprocessor 200 to determine whether the user actuable button 190 hasbeen actuated by the user indicating the hand controller 112 is in theinitialization position 302. If the user actuable button 190 has notbeen actuated, block 256 directs the microprocessor 200 back to thestart of block 256, which is repeated while waiting for a change instate of the input signal produced by the user actuable button 190 beingactuated by the user, indicating that the user is in the initializationposition 302. If at block 258, the user actuable button 190 has beenactuated, the microprocessor 200 is directed to block 260. In otherembodiments, block 258 may cause the microprocessor 200 to respond to astate of the input signal received at the input/output 206 from thefootswitch 134 when determining whether the hand controller is in theinitialization position 302.

Block 260 then directs the microprocessor 200 to receive the inputsignal values as described above in connection with block 256 and tocopy the value of the received current position in the storage location222 to an initialization position storage location 226 (shown in FIG.3). Block 262 then directs the microprocessor 200 to determine thevertical position of the hand controller 112 within the input deviceworkspace 188 corresponding to the initialization position 302.Referring back to FIG. 2, the vertical position of the hand controllery_(u), which is specific to the user 300, is simply the y-coordinate ofthe current hand controller position within the input device workspace188 (i.e. x_(r), y_(r), z_(r) coordinate space).

The process 250 then continues at block 264, which directs themicroprocessor 200 to determine a user ergonomic height of the inputdevice 116 based on the vertical position y_(u) of the hand controller112 at the initialization position 302. In one embodiment the userergonomic height is defined in terms of a vertical offset to the currentheight of the input device 112 that will produce a pre-defined verticalposition y_(p) of hand controller within the input device workspace 188when the input device is positioned at the ergonomic height. As anexample, for the situation shown in FIG. 5, if the vertical position ofthe hand controller y_(u) is higher than the pre-defined verticalposition y_(p), then the input device 116 is too low and should be movedupwards by a vertical distance Δy. If the vertical position of the handcontroller y_(u) is higher than the pre-defined vertical position y_(p),then the input device 116 is too high and should be moved downwardly bya vertical offset Δy.

The process 250 then continues at block 266, which directs themicroprocessor 200 to produce an actuator control signal for causing theactuator 152 to move the platform 142 by the vertical offset Δy toposition the input device at the determined ergonomic height. Referringto FIG. 6, the platform 142 is shown moving upwardly in the direction ofthe arrow 310 to position the input device 116 at the ergonomic heighth_(e), where h_(e) is given by:

h _(e) =h _(s) +Δy.

In one embodiment, the motor 154 of the actuator 152 may be implementedusing a stepper motor that in combination with the leadscrew 156 isoperable to provide a relatively precise vertical movement of theplatform 142 corresponding to the vertical offset Δy to place the rightinput device 116 at the ergonomic height h_(e). Referring to FIG. 7, theplatform 142 is shown with the input device 116 located at the ergonomicheight h_(e). The user 300 then places their elbow on the elbow support145 and should find that the right input device 116 is positioned at acomfortable height for further operation.

In some cases the user 300 may find that the ergonomic height h_(e) setby the workstation processor circuit 120 is not to their personalpreference. Referring to FIG. 8, a process for receiving user input of achange to the user ergonomic height of the input device 112 based on theuser's preference is shown at 350. The process follows block 266 of theprocess 250 and begins at block 352, by causing the microprocessor 200to receive input from the user 300 requesting a change to the ergonomicheight. For example, the user actuable button 190 may be implemented asan up/down toggle button and the user 300 may actuate the button to movethe platform 142 upwardly or downwardly from the ergonomic position.Block 354 then directs the microprocessor 200 to cause the motor 154 ofthe actuator 152 to be actuated at a slow speed to raise or lower theplatform 142 while the user actuates the user actuable button 190. Block356 then directs the microprocessor 200 to determine whether a“continue” signal has been received indicating that the user issatisfied with the change to the ergonomic position h_(e). The continuesignal may be received from another button (not shown) provided on thehand controller 112 or from another input means, such as the footswitch134. If at block 356 the “continue” signal has not been received, themicroprocessor 200 is directed back to block 354 and the block isrepeated while the user makes further changes to the ergonomic position.

If at block 356 the “continue” signal has been received, themicroprocessor 200 is directed to block 358, which directs themicroprocessor to copy the current hand controller position in thestorage location 222 to a user database store 236 as a user directedy_(p). In one embodiment, the start-up procedure implemented at block252 of the process 250 may involve a user identification process thatidentifies the user 300 operating the workstation 102 and the userdirected ergonomic position may be stored along with the useridentification as a user y_(p). When the same user 300 subsequently usesthe system, the platform 142 may then be automatically positioned to theuser's preference at block 252 of the process 250, and the remainingblocks 254-266 may be omitted.

In an alternative embodiment, block 266 of the process 250 may beimplemented to position the input device 116 at the ergonomic heightusing a process shown at 400 in FIG. 9. The process 400 begins at block402, which directs the microprocessor 200 to determine a direction inwhich the platform 142 must move to reduce the vertical offset Δybetween the current position of the hand controller y_(u) and thepre-defined position of the hand controller y_(p) at the desiredergonomic height h_(e). Block 404 then directs the microprocessor 200 tocause the actuator 152 to raise or lower the platform 142 accordingly.Block 406 then directs the microprocessor 200 to receive the inputsignal from the hand controller 112 and to determine a current verticalposition of the hand controller. The process then continues at block408, which directs the microprocessor 200 to determine whether the handcontroller vertical position is approximately equal to the pre-definedvertical position y_(p). If the current vertical position of the handcontroller is not yet at the pre-defined vertical position y_(p), thenblock 408 directs the microprocessor 200 back to block 404 and blocks404 to 408 are repeated. If at block 408, the hand controller verticalposition is approximately equal to the pre-defined vertical positiony_(p), block 458 directs the microprocessor to 410 and the process 400ends. The process 400 may be suitable for embodiments where the actuator152 does not provide for precise vertical movement of the platform 142.For example, the motor 154 may be implemented using a simple directcurrent or other motor that has limited ability to control rotationalmovements of the leadscrew 156. Alternatively, the process 400 may beemployed where an alternative actuator such as a hydraulic cylinder,which uses fluid pressure to raise or lower the platform 142.

By mounting the display 122 on the platform 142, the display is alsoplaced at an ergonomic height. For example, in FIG. 5, the user 300 mustlook downwardly to view the center of the display, while in FIG. 7 theangle is substantially reduced. In some embodiments, the display 122 maybe mounted on the platform 142 so as to permit an initial verticaladjustment of the display to accommodate a range of user preferences.

The above embodiments have been described with reference to receivinginput from the right input device 116. In other embodiments, theprocesses 250, 350, and 400 may equally well be implemented using inputsfrom the left input device 118, or a combination of inputs from the leftand right input devices. For example, the user 300 may be instructed toplace both hands in the respective initialization positions whilegrasping the respective hand controllers 112 and 114, and the inputsignals from both the right input device 116 and left input device 118may be received and combined by averaging, for example.

The disclosed embodiments have the advantage of positioning the inputdevice 110, display 122, and pair of supports 144 and 146 at anergonomic height that is determined with respect to the particular user.Users that are taller than average or shorter than average will thusfirst find a comfortable seated position, whereafter the workstation 102will adjust the height of the 142 to suit the user.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative of the invention only andnot as limiting the invention as construed in accordance with theaccompanying claims.

1-26. (canceled)
 27. A robotic surgery system workstation comprising: abase; a column mounted on the base; a platform mounted on the column,the platform configured to move vertically with respect to the base; aninput device mounted on the platform, the input device configured togenerate input signals representing a position of a hand controllerconfigured to control movements of a surgical instrument; an actuatorconfigured to move the platform vertically; and a processor circuitconfigured to: receive, from a user, input indicative of a desiredergonomic height of the input device; and cause the actuator to move theplatform to position the input device at the desired ergonomic height.28. The workstation of claim 27, wherein the processor circuit isconfigured to: cause the actuator to commence vertical movement of theplatform in a direction associated with the desired ergonomic height;and cause the actuator to discontinue the vertical movement of theplatform in response to a current position of the hand controller beingproximate the desired ergonomic height.
 29. The workstation of claim 27,further comprising a first display, wherein the processor circuit isconfigured to display a message on the first display prompting the userto input the desired ergonomic height.
 30. The workstation of claim 29,further comprising a second display configured to provide visualfeedback to the user, wherein the second display is coupled to theplatform.
 31. The workstation of claim 30, wherein the second display ispositioned between the input device and the first display.
 32. Theworkstation of claim 27, wherein the processor circuit is furtherconfigured to store a user identification identifying the user and thedesired ergonomic height for the user in memory.
 33. The workstation ofclaim 32, wherein the processor circuit is further configured to causethe actuator to automatically move the platform to position the inputdevice at the desired ergonomic height in response to receiving the useridentification and retrieving the desired ergonomic height from memory.34. The workstation of claim 27, wherein the platform is configured tomove vertically within a vertical motion range, and wherein theprocessor circuit is configured to, when the workstation is initializedat startup, cause the platform to move to one of: a vertical position ata center position within the vertical motion range; a pre-definedergonomic height determined to be suitable for an average user; or thedesired ergonomic height associated with the user.
 35. The workstationof claim 27, wherein: the input device comprises a right input deviceconfigured to receive input from the user's right hand and a left inputdevice configured to receive input from the user's left hand, and theprocessor circuit is configured to determine the desired ergonomicheight based on a vertical position of one of the left or right handcontrollers at an initialization position.
 36. The workstation of claim27, wherein: the input device comprises a right input device configuredto receive input from the user's right hand and a left input deviceconfigured to receive input from the user's left hand, and the processorcircuit is configured to determine the desired ergonomic height based ona combination of vertical positions of the left and right handcontrollers when positioned at respective initialization positions. 37.The workstation of claim 27, further comprising at least one forearmsupport configured to support the user's forearm during operation of theinput device, wherein the forearm support is pivotally coupled to theplatform.
 38. The workstation of claim 27, wherein the actuatorcomprises a motor and a lead screw, the motor coupled to the leadscrewand configured to rotate the leadscrew.
 39. A robotic surgery systemworkstation comprising: a base; a column mounted on the base; a platformmounted on the column, the platform including: first and second handcontrollers coupled to respective first and second input devicesconfigured to generate input signals representing positions of the firstand second hand controllers, the first and second hand controllersconfigured to control movements of at least one surgical instrument; andfirst and second forearm supports pivotally coupled to the platform, thefirst and second forearm supports configured to support forearms of auser.
 40. The workstation of claim 39, wherein the platform isconfigured to be moved vertically with respect to the base, and theworkstation further comprises an actuator configured to vertically movethe platform in response to a height adjustment signal.
 41. Theworkstation of claim 39, wherein the first and second forearm supportsare spaced apart and are configured to remain spaced apart when pivoted.42. The workstation of claim 39, wherein the base includes: a pluralityof wheels; and a foot pedal tray that includes at least one footswitchactuatable by the user.
 43. The workstation of claim 42, wherein thebase includes first and second base extensions, the foot pedal traylocated therebetween, and wherein the platform includes first and secondplatform extensions, the first and second forearm supports coupledthereto.
 44. The workstation of claim 43, wherein the first and secondplatform extensions are spaced apart at a distance that is substantiallythe same as a distance at which the first and second base extensions arespaced apart.
 45. The workstation of claim 43, wherein a distance atwhich the first and second platform extensions are extended toward theuser is substantially the same as a distance at which the first andsecond base extensions are extended toward the user.
 46. The workstationof claim 39, further comprising at least one display mounted on theplatform, the at least one display being vertically adjustable.
 47. Theworkstation of claim 46, wherein the at least one display includes afirst display configured to display at least one of: real time images ofa surgical workspace captured by a camera; a graphical depiction of thesurgical workspace; visual feedback to the user; or instructions to theuser.
 48. The workstation of claim 47, wherein the at least one displayfurther includes a second display configured to display auxiliaryinformation.
 49. The workstation of claim 48, wherein the second displayis positioned between the first and second input devices.
 50. Theworkstation of claim 49, wherein the second display is positionedbetween the first display and the first and second input devices.
 51. Arobotic surgery system workstation comprising: a platform; means forsupporting the platform; means for generating signals representing aposition of a hand controller configured to control movements of asurgical instrument; means for moving the platform vertically; and meansfor computing, the computing means for: receiving, from a user, inputindicative of a desired ergonomic height of the input device; andcausing the moving means to move the platform to position the inputdevice at the desired ergonomic height.
 52. The workstation of claim 51,wherein the computing means is further for: causing the moving means tocommence vertical movement of the platform in a direction associatedwith the desired ergonomic height; and causing the moving means todiscontinue the vertical movement of the platform in response to acurrent position of the hand controller being proximate the desiredergonomic height.
 53. The workstation of claim 51, wherein the computingmeans is further for storing a user identification identifying the userand the desired ergonomic height for the user in means for storing data.54. The workstation of claim 53, wherein the computing means is furtherfor causing the moving means to automatically move the platform toposition the input device at the desired ergonomic height in response toreceiving the user identification and retrieving the desired ergonomicheight from the storing means.
 55. The workstation of claim 51, whereinthe platform is configured to move vertically within a vertical motionrange, and wherein the computing means is further for, when theworkstation is initialized at startup, causing the platform to move toone of: a vertical position at a center position within the verticalmotion range; a pre-defined ergonomic height determined to be suitablefor an average user; or the desired ergonomic height associated with theuser.
 56. The workstation of claim 51, further comprising means forsupporting the user's forearm, the means for supporting the user'sforearm pivotally coupled to the platform.